Resolved Motion Force Control of Robot Manipulator

DOI10.1109/TSMC.1982.4308816MaRDI QIDQ4743783zbMATH OpenFDO

Authors Chihaur Wu, Richard P. Paul

Publication date 1982

Published in IEEE Transactions on Systems, Man, and Cybernetics (Search for Journal in Brave)

zbMATH Keywords

joint coordinatesCartesian positions and forcesconvergence of closed-loop robot systemeffects due to masses of linksideal robot with massless linkskinematical and dynamical relations of robotsresolved motion acceleration controlresolved motion position controlresolved motion rate controlRobbins-Monro stochastic approximation method

Mathematics Subject Classification ID

Probabilistic models, generic numerical methods in probability and statistics (65C20) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) General systems theory (93A99)

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